Biopsy device with variable speed cutter advance

ABSTRACT

A biopsy device having a translating and rotating cutter is disclosed. The translational speed of the cutter is varied using a variable pitch member. The variable pitch member can include a shaft having a relatively coarse threaded portion for rapid cutter advance and a relatively finer threaded portion for cutter advance during tissue severing.

This application claims priority to provisional patent application Ser.No. 60/449,970 filed Feb. 25, 2003.

FIELD OF THE INVENTION

The present invention relates in general to biopsy devices and, moreparticularly, to methods and devices for advancing and driving a cutterin a biopsy device.

BACKGROUND OF THE INVENTION

The diagnosis and treatment of patients with cancerous tumors is anongoing area of investigation. Medical devices for obtaining tissuesamples for subsequent sampling are known in the art. For instance, abiopsy instrument now marketed under the trade name MAMMOTOME iscommercially available for use in obtaining breast biopsy samples.

The following patent documents disclose various biopsy devices and areincorporated herein by reference in their entirety: U.S. Pat. No.6,273,862 issued Aug. 14, 2001; U.S. Pat. No. 6,231,522 issued May 15,2001; U.S. Pat. No. 6,228,055 issued May 8, 2001; U.S. Pat. No.6,120,462 issued Sep. 19, 2000; U.S. Pat. No. 6,086,544 issued Jul. 11,2000; U.S. Pat. No. 6,077,230 issued Jun. 20, 2000; U.S. Pat. No.6,017,316 issued Jan. 25, 2000; U.S. Pat. No. 6,007,497 issued Dec. 28,1999; U.S. Pat. No. 5,980,469 issued Nov. 9, 1999; U.S. Pat. No.5,964,716 issued Oct. 12, 1999; U.S. Pat. No. 5,928,164 issued Jul. 27,1999; U.S. Pat. No. 5,775,333 issued Jul. 7, 1998; U.S. Pat. No.5,769,086 issued Jun. 23, 1998; U.S. Pat. No. 5,649,547 issued Jul. 22,1997; U.S. Pat. No. 5,526,822 issued Jun. 18, 1996; US 2003/0199785published Oct. 23, 2003; US 2003/0199754 published Oct. 23, 2003; US2003/0199754 published Oct. 23, 2003.

SUMMARY OF THE INVENTION

It can be desirable to vary the translational speed of a rotating andtranslating cutter in a biopsy device. For instance, it may be desirableto have the cutter translate at different rates. By way of example, U.S.Pat. No. 6,120,462 discloses a method for controlling a biopsy device.

While motor speed can be varied corresponding to a desired variation intranslational speed of a cutter, it may be undesirable to requireoperation of a motor at significantly different speeds, or toincorporate complex controls for varying a motor speed. A transmissionassembly having a gear train could be employed to vary a cuttertranslation speed, but such an approach may add undesired complexity orweight to the biopsy device.

In one embodiment, the present invention provides a biopsy devicecomprising

-   a cannula having a tissue receiving port; a tissue cutter disposed    coaxially with the cannula, the cutter adapted for translation    relative to the cannula; and a variable pitch member operatively    associated with the tissue cutter for providing variation in the    translational speed of the tissue cutter. The tissue cutter can be    adapted for translation and rotation within the cannula during a    portion of the cutter travel. A motor, such an electric motor, can    be employed for rotating the variable pitch member. The motor can    provide rotation at a desired speed, and the variable pitch member    can be employed to vary the translational speed of the cutter    independently of the rotational speed of the motor.

The variable pitch member can be in the form of a variable pitchrotation shaft having a threaded portion of varying pitch for providinga variable pitch cam surface. The biopsy device can be a handheld devicewhich includes a first motor for providing rotation of the variablepitch member and a second motor for providing rotation of the cutter.The variable pitch rotation shaft can include a relatively coarse pitchportion for advancing the cutter at a relatively rapid rate prior totissue cutting, and a relatively fine pitch portion for advancing thecutter at a relatively slower rate during tissue cutting.

The variable pitch cam surface of the variable pitch rotation shaft canbe in the form of a cam slot formed in the outer surface of the shaft. Acam nut can be supported on the rotated shaft, and can be translatedalong the length of the shaft at a speed that is a function of the pitchof the cam slot on the shaft. Depending on the direction of rotation ofthe shaft, translation of the cam nut can provide translation of thecutter in a forward (distal) or reverse (proximal) direction.

BRIEF DESCRIPTION OF THE DRAWINGS

While the specification concludes with claims particularly pointing outand distinctly claiming the present invention, it is believed the samewill be better understood by reference to the following description,taken in conjunction with the accompanying drawings in which:

FIG. 1 is an isometric view of a biopsy instrument according to oneembodiment of the present invention, which includes a handpiece for thecollection of soft tissue;

FIG. 2 is an isometric view of the handpiece of FIG. 1, showing a probeassembly prior to attachment to a holster;

FIG. 3 is an isometric view of the underside of the holster and probeassembly shells, wherein the holster lower shell includes a slot for theremovable attachment to a latch on the probe assembly lower shell;

FIG. 4 is an isometric view similar to FIG. 3, illustrating theremovable attachment of the holster and probe assembly lower shells;

FIG. 5 is an exploded isometric view of the probe assembly illustratedin FIG. 2;

FIG. 6 is an isometric view of the probe assembly of FIG. 2, with theupper shell removed to reveal the internal components;

FIG. 7 is an exploded view of the rotary drive shaft and lower probeassembly shell;

FIG. 8 is a partial isometric view of the translation shaft assemblyillustrating the cam track and cam nut;

FIG. 9 is a top view of the cutter rotation and translation shaftassemblies;

FIG. 10A is a top view of the cam nut follower and translation shaft;

FIG. 10B is a section view taken along section A-A in FIG. 10A;

FIG. 11 is an exploded isometric view of the translation shaft assembly;

FIG. 12A is a top view of the cam nut adjacent the proximal end of thetranslation shaft;

FIG. 12B is a section view taken along section A-A in FIG. 12A;

FIG. 13A is a top view of the cam nut at the proximal most position ofthe translation shaft;

FIG. 13B is a section view taken along section A-A in FIG. 13A;

FIG. 14A is a top view of the probe assembly with the upper shellremoved to reveal the cutter in a first, fully retracted position;

FIG. 14B is a top view of the probe assembly with the upper shellremoved to reveal the cutter in a third position, wherein the distal endof the cutter is immediately proximal to the port;

FIG. 14C is a top view of the probe assembly with the upper shellremoved to reveal the cutter in a fourth, fully deployed position;

FIG. 15 is an exploded isometric view of the holster showing a first,double motor embodiment of the present invention;

FIG. 16 is a rear isometric view of the holster assembly of FIG. 15,wherein the holster upper shell is detached to reveal the double motorassembly;

FIG. 17 is an exploded isometric view of the double motor assembly ofFIG. 16;

FIG. 18 is an exploded isometric view of the holster depicting a second,single motor embodiment of the present invention;

FIG. 19 is a rear isometric view of the holster of FIG. 18, wherein theholster upper shell is detached to reveal the single motor assembly;

FIG. 20 is an exploded isometric view of the single motor assembly ofFIG. 19;

FIG. 21 is an exploded isometric view of a probe assembly for thesecond, single motor embodiment;

FIG. 22 is an isometric view of the probe assembly of FIG. 21, with theupper shell removed to reveal the internal components;

FIG. 23 is a schematic diagram of a vacuum system in accordance with thepresent invention;

FIG. 24A is a first portion of a flow diagram pertaining to theoperation of the cutter, showing the control unit logic for when thecutter translates from the first position to the second position;

FIG. 24B is a second portion of a flow diagram pertaining to theoperation of the cutter, showing the control unit logic for when thecutter translates from the second to the third position;

FIG. 24C is a third portion of a flow diagram pertaining to theoperation of the cutter, showing additional control unit logic for whenthe cutter translates from the second to the third position;

FIG. 24D is a fourth portion of a flow diagram pertaining to theoperation of the cutter, showing the control unit logic for when thecutter translates from the third to the fourth position;

FIG. 24E is a fifth portion of a flow diagram pertaining to theoperation of the cutter, showing the control unit logic for terminatingoperation of the cutter after the cutter has reached the fourthposition; and

FIG. 25 is a graphical representation of an exemplary current profilefor the translation motor.

DETAILED DESCRIPTION OF THE INVENTION

The present invention pertains to a biopsy device for obtaining a tissueportion from within a body and, in particular, to controlling the speedof a cutting instrument within a core biopsy device. An example of acore biopsy device is described in U.S. Pat. No. 6,086,544 issued toHibner et al., which is incorporated herein by reference. FIG. 1 shows acore sampling biopsy instrument according to the present inventioncomprising a handpiece identified generally by the numeral 20, a vacuumsystem 22, a control unit 24, and a power source 26. Handpiece 20 ispreferably lightweight and ergonomically-shaped to be easily manipulatedby an operator's hand. Handpiece 20 includes a probe assembly 28 and adetachably connected holster 30.

Probe assembly 28 is connected to vacuum system 22 by a first vacuumtube 32 and a second vacuum tube 34. First and second vacuum tubes 32,34 are detachably connected to vacuum system 22 by a first connector 36and a second connector 38 respectively. First connector 36 has a maleportion 40 and a female portion 42 attached to first vacuum tube 32.Second connector 38 has a female portion 44 and a male portion 46attached to second vacuum tube 34. Connector portions 40, 42, 44 and 46are attached in this manner to prevent the accidental switching of firstand second tubes 32 and 34 to vacuum system 22. Holster 30 includes acontrol cord 48 operationally connecting the handpiece 20 to controlunit 24 and power source 26. Control cord 48 provides electrical powerand control information to handpiece 20.

Because handpiece 20 is manipulated by the operator's hand rather thanby an electromechanical arm, the operator may steer the tip of handpiece20 with great freedom towards the tissue mass of interest. The surgeonhas tactile feedback while doing so and can thus ascertain, to asignificant degree, the density and hardness of the tissue beingencountered. In addition, handpiece 20 may be held approximatelyparallel to the chest wall of the patient for obtaining tissue portionscloser to the chest wall than may be obtained when using an instrumentmounted to an electromechanical arm. Those skilled in the art mayappreciate that a mount or “nest” could be provided to hold handpiece 20securely to the movable arm of an X-ray stereotactic table in the eventthat it is desirable to use an X-ray stereotactic table.

FIG. 2 shows probe assembly 28 disconnected from holster 30. Probeassembly 28 includes an upper shell 50 and a lower shell 52 each ofwhich may be injection molded from a rigid, biocompatible plastic, suchas a polycarbonate. Upon final assembly of probe assembly 28, upper andlower shells 50, 52 can be joined together along a joining edge 54 byany of a number of methods well known for joining plastic parts,including, without limitation, ultrasonic welding, snap fasteners,interference fit, and adhesive joining. Similarly, holster 30 includesan upper shell 56 and a lower shell 58 which also may be injectionmolded from a rigid, biocompatible plastic, such as a polycarbonate, andjoined together along edge 60 by any suitable method for joining plasticparts.

FIGS. 3 and 4 show the bottom portions of holster 30 and probe lowershell 52. As shown in the figures, a probe latch 62 can be molded intolower probe shell 52 for detachably connecting probe assembly 28 toholster 30. Probe latch 62 is a cantilevered beam and can be deflecteddownwardly by a force applied to a latch ramp surface 64. Probe latch 62further comprises a latch projection 66 for insertion into a holsterslot 67 as a proximal end of probe assembly 28 is inserted into holster30. Ramp surface 64 is deflected downwardly by interaction between thesurface 64 and an inside surface 65 of holster shell 30. Probe latch 62retainably snaps into a slot key 68 when probe assembly 28 is fullyinserted into holster 30. To remove probe assembly 28 from holster 30,the operator manually depresses projection 66 until ramp surface 64disengages from slot key 68. Projection 66 may then be pulled axiallythrough slot 67 until the probe assembly 28 and holster 30 areseparated.

Returning now to FIGS. 1 and 2, which show that electrical switches aremounted on holster upper shell 56 to enable the operator to use thehandpiece 20 with a single hand. These switches can include a twoposition rocker switch 72 for actuating the motion of the cutter (e.g.forward movement of rocker switch 72 moves the cutter in the forward(distal) direction for tissue sampling and rearward movement of therocker switch 72 actuates the cutter in the reverse (proximal) directionto position a tissue sample in sample retrieval surface 74), and avacuum switch 76 for actuating vacuum system 22. One-handed operationallows the operator's other hand to be free, for example, to hold anultrasonic imaging device. A ridge 78 on the distal end of holster 30 isprovided to assist the operator in grasping handpiece 20 and operatingswitches 72, 76. Probe assembly shells 50, 52 may also be contoured toimprove the operator's grip on the instrument during use.

First and second vacuum tubes 32, 34 can be made from a flexible,transparent or translucent material, such as silicon tubing, PVC tubingor polyethylene tubing. This enables visualization of the materialflowing through the tubes 32, 34. As shown in FIGS. 3 and 4, one or moreslots such as, for example, that indicated by numeral 70, can beprovided in holster shell 58 to provide clearance for first and secondvacuum tubes 32, 34. An open area at the distal end of probe assembly 28allows access to sample retrieval surface 74. The operator or anassistant can retrieve a tissue sample from surface 74.

FIG. 5 provides an exploded isometric view of probe assembly 28. Abiopsy needle, including a piercer 80 is located at a distal end ofprobe assembly 28 for insertion into the surgical patient's skin toobtain a tissue sample. Piercer 80 comprises a cannula having anelongated, metallic piercer tube 82 and an associated lumen 84 extendingalong the axial length of the tube. Adjacent the distal end of piercertube 82 is a lateral tissue receiving port 86 for receiving the tissueto be extracted from the surgical patient. Joined alongside piercer tube82 is an elongated vacuum tube 88 having a vacuum lumen 90. Piercer tube82 can be formed of any suitable material, including metal or plastic,and can be jointed to piercer tube 84 or formed together with thepiercer tube. As shown in FIG. 6, piercer lumen 84 is in fluidcommunication with vacuum lumen 90 via a plurality of vacuum holes 92located in the bottom of the tissue aperature defined by port 86. Thesevacuum holes 92 are small enough to remove fluids, but not large enoughto allow excised tissue portions to be removed through first vacuum tube32, which is fluidly connected to vacuum lumen 90 of vacuum tube 88. Asharpened tip of piercer 80 can be formed by a separate piercingendpiece 94 attached to the distal end of the piercer. Endpiece 94 canhave a two-sided, flat-shaped point, or other shapes suitable forpenetrating the tissue of a surgical patient.

The proximal end of piercer 80 is attached to a union sleeve 96 having alongitudinal bore 98 therethrough, and a transverse opening 102 into awidened center portion of the bore. An elongated, metallic, tubularcutter 104 is axially aligned within longitudinal bore 98 of unionsleeve 96 and piercer lumen 84 of piercer 80 so that the cutter mayslide easily in both the distal and proximal directions. A cutter guide106 is disposed in the proximal end of union sleeve 96. Cutter guide 106can be in the form of a metallic funnel-shaped guide that ensures properalignment between cutter 104 and union sleeve 96. Union sleeve 96 andcutter guide 106 are supported between probe upper and lower shells 50,52 by integrally-formed support ribs 107 extending from lower shell 52,and an integrally-formed housing 108 at the distal end of upper shell50. These integrally-formed supports 107, 108, along with a slot 110 andopening 112 formed in probe shells 50, 52, ensure proper alignmentbetween the cutter 104 and union sleeve 96 so that the cutter may betranslated easily in both the distal and proximal directions. The distalend of first vacuum tube 32 is attached to a polymeric vacuum fitting113 that inserts tightly into transverse opening 102 of union sleeve 96.Opening 102 is in fluid communication with lumen 90, and allows thecommunication of fluids in piercer lumen 84 to a vacuum reservoir invacuum system 22 via vacuum holes 92.

A cutter lumen 114 extends through substantially the entire length ofcutter 104. An elongated, hollow, tubular tissue remover 115 can bedisposed coaxially within cutter lumen 114, such that cutter 104 maytranslate along a length of the remover 115. Tissue remover 115 may bemetallic or non metallic. Second vacuum line 34 can be fluidly attachedto the proximal end of tissue remover 115 to provide vacuum to thecutter lumen 114 via a central passageway extending through the tissueremover 115. Second vacuum tube 34 exits lower shell 52 alongside thefirst vacuum tube out an opening 117. A strainer 119 is attached to thedistal end of tissue remover 115 to prevent fragmented tissue piecesfrom passing through the remover and into vacuum system 22.

The tissue remover 115 can be held stationary with respect to the lowershell 52 and can be supported by a pair of proximal supports (not shown)on the inside of probe lower shell 52. Second vacuum line 34 providesvacuum through cutter lumen 114 via the hollow remover 115, which vacuumcan be used to assist in drawing tissue into tissue receiving port 86when the distal end of cutter 104 is positioned proximal of the port.

The distal end of cutter 104 is sharpened to form a cutter blade 116 forcutting tissue held against the blade as cutter 104 is rotated. Theproximal end of cutter 104 is attached inside an axial bore of a cuttergear 118. Cutter gear 118 may be metallic or polymeric, and includes aplurality of cutter gear teeth 120. Each of the gear teeth 120 has atypical spur gear tooth configuration as is well known in the art.

Referring to FIGS. 5 and 6, cutter gear 118 is driven by an elongatedrotary drive shaft 122 having a plurality of drive gear teeth 124designed to mesh with cutter gear teeth 120. In this embodiment, drivegear teeth 124 extend approximately the entire length of drive shaft 122and engage cutter gear teeth 120 throughout the translation of cutter104. Drive gear teeth 124 are in continual engagement with cutter gearteeth 120 to rotate cutter 104 whenever drive shaft 122 is rotatablydriven. As will be described in more detail below, drive shaft 122rotates cutter 104 as the cutter advances distally through tissuereceiving port 86 for the cutting of tissue. Drive shaft 122 may beinjection molded from a rigid engineering plastic such as liquid crystalpolymer material or, alternatively, could be manufactured from ametallic or non-metallic material. Drive shaft 122 could also beextruded from aluminum or machined from a metallic material.

As shown in FIG. 7, drive shaft 122 includes a first axial end 126extending distally from the shaft. Axial end 126 is supported forrotation within probe lower shell 52 by a drive shaft interface 127molded on the inside of the probe shell. Similarly, a second axial end128 extends proximally from rotary drive shaft 122 and is supported in asecond interface 130 also molded on the inside of probe lower shell 52.An O-ring 131 and bushing 133 may be provided on each axial end 126, 128so as to sit within interfaces 127, 130 when rotary drive shaft 122 ismounted in probe shell 52. Bushing 133 reduces friction at the driveshaft interfaces 127, 130, while O-ring 131 isolates vibrations inrotary drive shaft 122 from the rest of probe assembly 28. Bushing 133could also be used without O-ring 131 at interfaces 127, 130. A driveslot 132 is formed in axial end 128. Drive slot 132 interfaces with acorresponding drive slot formed in a motor drive shaft 134, or otherrotational drive input for providing rotation of the drive shaft, aswill be described further below.

Referring now to FIGS. 8 and 9, a cam nut 136 is provided in probeassembly 28 to hold cutter gear 118 and carry the cutter gear andattached cutter 104 during translation in both the distal and proximaldirections. Cam nut 136 is preferably molded from a rigid polymer andhas a cylindrically shaped bore 138 extending axially therethrough. Apair of J-shaped hook extensions 140 extend from one side of cam nut136. Hook extensions 140 rotatably support cutter 104 on either side ofcutter gear 118 to provide proximal and distal translation of gear 118and cutter 104 during proximal and distal translation of cam nut 136.Hook extensions 140 align cutter 104 and cutter gear 118 in the properorientation for cutter gear teeth 120 to mesh with drive gear teeth 124.

Cam nut 136 is supported on shaft 142 for translational movement alongtranslation shaft 142. Shaft 142 extends through cam nut bore 138 inparallel with cutter 104 and rotary drive shaft 122. Translation shaft142 may be made from aluminum or another similar material, and includesa path, such as a path in the form of lead screw thread groove 144 whichcan be machined or otherwise formed in the outer circumference of theshaft 142. The thread groove 144 can be generally helical. The pitch oflead screw thread groovel44 may vary between the proximal and distalends of translation shaft 142. In the embodiment described herein, thelead screw pitch varies from a coarser or more widely spaced pitch atthe proximal portion of the shaft, to a finer, more closely spaced pitchat the distal portion of the shaft. The particular pitch width of threadgroove 144, as well as the ratio of wide to narrow pitch width along thelength of the translation shaft, will vary in the present inventiondepending upon the desired operation of cutter 104.

In the figures, translation shaft 142 is shown with a right hand threadso that clockwise rotation (looking from the proximal to the distaldirection) causes cam nut 136 to translate along shaft 142 in theproximal direction, while the reverse rotation of shaft 142 causes camnut 136 to move in the distal direction. However, the thread directioncould also be reversed, with the particular direction of the screwthread depending upon the application and rotary drive input.

As shown in greater detail in FIGS. 1OA and 10B, cam nut 136 is molded,machined, or otherwise formed to include a receiver hole 150 extendingperpendicular to bore 138. A cam follower pin 152 is positioned withinreceiver hole 150 such that a portion of the pin extends beyond cam nut136 and into lead screw thread groove 144 of translation shaft 142 asthe thread passes through bore 138. Lead screw thread groove 144 forms apath in which to guide cam follower pin 152 about the surface oftranslation shaft 142 as the shaft is rotated. Cam follower pin 152 canbe a metallic, machined pin that is assembled as part of cam nut 136 tocreate the interface between the cam nut 136 and translation shaft 142.In the embodiment shown, cam follower pin 152 is assembled with aninterference fit in cam nut receiver hole 150. Alternatively, pin 152could be inserted by other methods, such as by insert molding or withscrew threads. In yet another embodiment, pin 152 can be supported oncam nut 136 so as to be able to move radially and so “float” in threadgroove 144.

As shown in FIG. 10B, cam follower pin 152 sits within cam receiver hole150 and can have a tapered or otherwised shaped tip, as indicated byangled surface 156, that is shaped to match the profile of cam path 144.Cam path 144 can have a tapered profile. The angled surface 156 allowscam follower pin 152 to freely slide within the tapered pathway formedby lead screw thread 144, and adapt easily to the changing pitch of thethread and/or width of the thread 144.

Returning to FIGS. 8 and 9, a slot 158 is provided in the proximal endof translation shaft 142 for attaching the shaft to a drive motor shaft,such as shaft 160 shown in FIG. 15. Motor shaft 160 provides rotation oftranslation shaft 142 through mating shaft ends 158, 162. As translationshaft 142 rotates, cam nut 136 follows the variable pitch cam path 144due to the interface between the path and cam follower pin 152.Accordingly, cam nut 136 translates along the length of shaft 142 asshaft 142 rotates. As cam nut 136 is translated distally by rotation oftranslation shaft 142, cutter gear 118 is pushed forward (distally) byhook extensions 140. Cutter gear 118 is rigidly attached to cutter 104to move the cutter in the same direction and at the same speed as thetranslation of cam nut 136. As translation shaft 142 rotates within camnut 136, cylindrically shaped bore 138 serves as a bushing to stabilizethe cam nut as it traverses translation shaft 142.

During operation of the biopsy instrument of the present invention,cutter 104 translates in either direction between a fully retractedposition just proximal to sample retrieval surface 74 and a fullydeployed position just distal to tissue receiving port 86. In theembodiment shown, the cutter 104 can translate a distance of about sixinches from the fully retracted position to the fully deployed position.There are intermediate positions along the length of the cuttertranslation which can be identified. When the distal end 116 of cutter104 reaches each of these positions, adjustments to either the cutterrotational speed (sometimes referred to simply as rotation speed) or thecutter translational speed (sometimes referred to simply as translationspeed), or both, may be made, if desired.

For the embodiment of the biopsy device described herein, four positionsalong the length of the cutter translation may be identified. At each ofthese positions, adjustments may be made to the cutter rotational and/ortranslational speed. These speed variations may be accomplished indifferent manners within the biopsy instrument either mechanically orthrough motor speed variation. To facilitate description of the cutterpositions, they are to be understood as actually the positions of cutterblade 116 on the distal end of cutter 104. These four cutter positionsare the following: a first position where cutter 104 is just proximal tosample retrieval surface 74; a second position where cutter 104 is justdistal to sample retrieval surface 74; a third position where cutter 104is just proximal to tissue receiving port 86; and a fourth positionwhere cutter 104 is just distal to port 86. These four positions aresometimes referred to as position one, position two, position three, andposition four. These four cutter positions are given by way of exampleonly, and numerous other cutter positions may be used in the presentinvention for signaling adjustments to cutter rotational speed an/ortranslational speed without departing from the scope of the invention.

In the embodiment shown in FIGS. 5, 6 and 9, as cutter 104 translatesfrom position one to position two along the translational length, camfollower pin 152 traverses the coarser pitched portion 146 of groove144, thereby translating at a more rapid speed for each rotation oftranslation shaft 142. As cutter 104 moves from position two to positionthree, cam groove 144 transitions from a coarser pitch width to a finerpitch width, thereby slowing the translation speed of cutter 104 foreach rotation of shaft 142. As cutter 104 approaches position three,drive shaft 122 begins rotating to correspondingly rotate the cutter.Accordingly, cutter 104 begins to rotate when cam follower pin 152begins traversing the slower, fine pitch portion 148 of cam groove 144.The translation speed of cutter 104 is slowed in the finer pitch portion148 to advance the rotating cutter 104 more slowly through tissuereceiving port 86 during the cutting of tissue. During translationthrough tissue receiving port 86 (between positions three and four),cutter 104 is rotated by drive shaft 122 at the desired tissue cuttingspeed.

The pitch width of cam groove 144 determines the linear distancetraveled by cam nut 136 for each 360° rotation of translation shaft 142.The wider the pitch width of thread groove 144, the greater the lineardistance traveled by cutter 104 for each 360° rotation of shaft 142.Accordingly, the linear speed of cutter 104 may be varied as a functionof the location of cam nut 136 on translation shaft 142. The pitch ofthread groove 144 can be selected to provide a desired ratio of cuttertranslational speed to rotational speed of translation shaft 142. Threadgroove 144 can function as a variable pitch cam path.

FIGS. 9 and 11 illustrate the full extent of translation shaft 142 aswell as the variable pitch thread groove 144. As shown in these figures,translation shaft 142 may include areas adjacent the proximal and distalends of the shaft where translation of cutter 104 is preventedregardless of the rotation of shaft 142. In these areas, indicated bynumeral 164, lead screw thread groove 144 may have a pitch width ofzero, and thereby form a 360° groove about the circumference of theshaft. The 360° groove or no-pitch zone 164 inhibits travel of cam nut136 along translation shaft 142. As thread groove 144 transitions tono-pitch zone 164, the diameter of translation shaft 142 can bedecreased as indicated at 166, and the pitch of thread groove 144 madefiner, to slow the translation of the pin 152, and so the cutter 104.

When cam nut 136 enters the no-pitch zone, shaft 142 may continue torotate but the cam nut is prevented from translating along the shaft dueto the retention of cam follower pin 152 within groove 164. When cutter104 is at its distal most (or proximal most) point of travel, and therotation direction of shaft 142 is reversed (such as by depressingrocker switch 72), cam follower pin 152 can be urged from no-pitch zone164 back into engagement with variable pitch thread groove 144. As shownin FIG. 11, a biasing device such as coil springs 168, 170 may beprovided adjacent each end of translation shaft 142 for urging cam nut136 back into engagement with variable pitch thread groove 144 when thetranslation direction changes upon reversing the direction of rotationof shaft 142. Reducing the outer diameter of the shaft 142 at 166adjacent the no-pitch zone 164 and making the pitch of the thread groove144 finer can also be beneficial in reducing noise or vibration of thepin 152 as it rides in groove of the no-pitch zone 164.

FIGS. 12A and 12B illustrate no-pitch zone 164 and spring 168 as cam nut136 translates towards the proximal end of shaft 142. FIGS. 13A and 13Billustrate cam nut 136 after it has translated to its most proximalposition (i.e. cutter position one). In this position, cam follower pin152 engages no-pitch groove 164 and spring 168 is compressed against camnut 136. Cam nut 136 remains in this position as shaft 142 rotates dueto cam follower pin 152 engaging no pitch zone 164. Once the rotationdirection of shaft 142 is reversed, such as by changing motor direction,energy stored in spring 168 acts against cam nut 136 to push the cam nut136 (via cam follower pin 152) out of no-pitch zone 164. Spring 168pushes cam nut 136 back into engagement with variable pitch pathcorresponding to thread groove 144 so that the cam nut (and cutter 104)can begin translating in the opposite direction.

The outer diameter of the shaft 142 can be machined or otherwise reducedand the threads (e.g. with tapered walls) of thread groove more closelyspaced to provide a finer pitch (more threads per inch). In analternative embodiment, the thread depth of cam path 144 having taperedthread walls may be varied in order to vary the translation speed of camfollower pin 152. For instance, the depth of cam path 144 may bereduced, while the diameter of shaft 142 remains constant, to enable thescrew threads to be placed more closely together on the shaft. Thecloser spaced threads reduce the linear distance traveled by cutter 104during each revolution of translation shaft 142.

FIGS. 14A-14C depict three of the four positions of cutter 104 duringthe operation of the present invention as embodied in the prior FIGS.1-13. The three positions of cutter 104 are most easily distinguished byobserving the relative positions of cam nut 136 (which moves togetherwith cutter 104) and cutting edge 116 on the distal end of cutter 104.FIG. 14A shows a partially cut away top view of probe assembly 28 inwhich cutter 104 is located in position one. In this position, cutter104 is in a fully retracted position, with cutting edge 116 positionedproximal of sample retrieval surface 74. Cam nut 136 is positioned atthe proximal end of translation shaft 142 with cam follower pin 152rotating within the no-pitch zone 164 of cam path 144. Spring 168 iscompressed against the proximal end of cam nut 136. In the positionshown in FIG. 14A, cutter 104 is in a fully retracted position such thatport 86 in piercer 80 is open to receive tissue. In this position, atissue sample may be retrieved from sample retrieval surface 74.

FIG. 14B illustrates cutter 104 advanced to the third position in whichcutting edge 116 is immediately proximal of tissue receiving port 86. Inthis position, cam nut 136 has translated along shaft 142 to a pointwhere cam follower pin 152 is transitioning from wider pitch portion 146to finer pitch portion 148 of thread groove 144. Likewise, cutter 104has advanced to an intermediate position in which drive shaft 122 isrotating the cutter via cutter gear teeth 120 and drive gear teeth 124.Cutter blade 116 is located in a position immediately proximal to port86. Vacuum holes 92 in port 86 are open so that soft tissue adjacent toport 86 can be pulled into the port when first vacuum tube 32 is fluidlyconnected to vacuum system 22.

FIG. 14C illustrates cutter 104 advanced to the fourth position, inwhich the cutter is in the most extended position and cutting edge 116is distal of port 86. In this position, cutter 104 is being rotated atan appropriate cutting speed by rotary drive shaft 122. Tissue pulledinto port 86 by the vacuum through holes 92 has been severed by therotating, advancing cutter blade 116 and stored inside cutter lumen 114.When cutter 104 retracts back to the first position shown in FIG. 14A,tissue remover 115 draws the tissue sample back to sample retrievalsurface 74. In FIG. 14C, cam nut 136 is shown in its most distalposition, having translated through fine pitch portion 148 of cam path144. In this position, cam follower pin 152 is engaged in no pitch zone164 at the distal end of variable pitch cam slot 144. Spring 170 iscompressed by cam nut 136 for biasing the cam nut back into engagementwith fine pitch portion 148 of cam path 144 once the direction ofrotation of translation shaft 142 is reversed, and cutter 104 isretracted back to position one.

FIG. 15 is an exploded isometric view of a first embodiment of holster30. In this embodiment, holster 30 is an integrally motorized holster inwhich two motors are supported for rotatably driving shafts 122, 142 inprobe assembly 28. As mentioned above, holster 30 includes an uppershell 56 and a lower shell 58 which may be shaped as shown in FIGS. 15and 16 to accommodate the motors and motor drive shafts enclosedtherein. Upon final assembly, shells 56, 58 are joined together byscrews 180 fastened into a plurality of alignment holes 182, or attachedtogether by another type of fastener well known in the art.

A pair of motor drive shafts 134, 160 is contained within the proximalenclosed portion of holster 30. The first drive shaft 134 has a distalend 172 shaped to operatively engage slot 132 of rotary drive shaft 122.The second drive shaft 160 has a distal end 162 shaped to operativelyengage slot 158 of translation shaft 142. Motor drive shafts 134, 160extend distally from a gear case 184 for engagement with drive andtranslation shafts 122, 142 when probe assembly 28 and holster 30 areconnected. A first drive motor 186 and second drive motor 188 aremounted above gear case 184. First drive motor 186 provides rotarymotion to drive shaft 134 through a gear assembly 190 shown in FIG. 16.The rotary motion produced in drive shaft 134 is transferred throughdistal end 172 and slot 132 to rotary drive shaft 122 when probeassembly 28 and holster 30 are connected. Likewise, second drive motor188 provides rotary motion to drive shaft 160 through a second gearassembly 192. The rotary motion of drive shaft 160 is transferred totranslation shaft 142 by the engagement between slot 158 and distalshaft end 162. Motors 186 and 188 can be DC graphite brush motors, suchas Model 118718 4.5 Watt motors available from Maxon Precision Motors ofSachsein, Switzerland. Motor 186 can be employed with a planetarygearhead Model 118184 available from Maxon, and Motor 188 can beemployed with a planetary gearhead Model 110322 available from Maxon.

Referring to FIGS. 16 and 17, first and second gear assemblies 190, 192are positioned at the proximal end of motors 186, 188 and drive shafts134, 160, and are each comprised of a pair of gears interconnected by abelt. The separate connections between motors 186, 188 and drive shafts134, 160 enables the drive shafts to be separately driven at differenttime periods and at different speeds without the need for additionalgearing. Further, because individual motors are used to drive shafts134, 160 the motors may be smaller and less powerful than that requiredto drive both shafts in combination.

Motors 186 and 188 can be supported in holster 30 in any convenientmanner, such as, for example, by one or more supports 196 molded intoholster lower shell 58. A switchboard 198 is provided in holster 30 andelectrically interfaced with motors 186, 188 in any convenient manner.Switchboard 198 can also interface with various user interface switchessuch as rocker switch 72 and vacuum switch 76, as well as control cord48 that provides power and control signals to holster 30 from controlunit 24. Switch seals 200 and 202 comprised of a polymeric rubber orother suitable sealing material can be provided between switchboard 198and adjacent components to prevent fluid from entering holster 30 andaffecting switchboard 198. A metal plate 204 can be provided withmounting or connecting features to provide structural support withinholster 30 and/or facilitate fastening of the holster to probe assembly28.

The embodiment shown in FIGS. 15-17 comprises two integral motorsmounted above gear case 184 and directly connected to motor drive shafts134, 160 for separately driving each shaft. In an alternativeembodiment, such as shown in FIGS. 18-20, a single integral motor couldbe used to drive both the rotary drive shaft and the translation driveshaft through suitable gearing. In this embodiment, the single motor 208may be mounted above gear case 184 and motor drive shafts 134, 160 inthe proximal end of the holster. Motor 208 is operatively connected todrive shafts 134, 160 through a gear assembly 210. FIGS. 19 and 20provide a rear view of the single motor assembly illustrating theinterconnection between motor 208 and gear assembly 210. Thisinterconnection includes a single belt 212 extending between gear 214 ofmotor shaft 216 and gear 218 of drive shaft 134. As shown in FIG. 20,additional gears 220 are included in gear case 184 for drivingtranslation shaft 160 from the rotation of rotary drive shaft 134. Theadditional gears 220 provide a gear reduction between the two driveshafts 134, 160 to enable translation drive shaft 160 to rotate at aslower speed than rotary drive shaft 134. Gears 220 could also beconfigured to enable translation drive shaft 160 to rotate at a fasterspeed than rotary drive shaft 134, or for the two shafts to rotate atthe same speed, depending upon the desired operation of cutter 104. Inaddition to the two embodiments described above, the present inventioncould also comprise one or more integral motors positioned at theproximal end of holster 30 behind gear case 184, along the side orbottom portions of the holster, or in a forward end of the holster. Inaddition, one or more drive motors could be located external of theholster and operatively connected to rotary drive and translation shafts122, 142 by one or more rotatable shafts. Accordingly, the particularlocation of the motors in the present invention may be varied dependingupon the desired size or weight distribution for the holster.

FIGS. 21 and 22 illustrate probe assembly 28 for the second, singlemotor embodiment of the invention. In the single motor embodiment, boththe rotary drive shaft 134 and translation drive shaft 160 are rotatedduring the entire operation of the device, since a common motor 208acting through gears 214, 218 and belt 212 drives the shaftssimultaneously. To accommodate the continuous rotation of motor driveshaft 134, the rotary drive shaft 122 of the first embodiment isreplaced with a modified drive shaft 222 having drive gear teeth 224located proximate the distal end of the drive shaft. With gear teeth 224in this position, cutter gear 118 engages modified drive shaft 222 onlyafter cutter 104 has advanced distally to a position just proximal oftissue receiving port 86. When cutter gear 118 engages drive gear teeth224, the gear teeth 120, 224 mesh and cutter 104 is rotated by driveshaft 222. Drive gear teeth 224 may include a lead-in ramp 254 molded inthe proximal end of drive gear teeth 224. Ramp 254 transitions gearteeth 120 into engagement with drive gear teeth 224 to provide a smoothmeshing of the gears. Drive shaft 222 is modified in this manner for thesingle motor embodiment so that cutter 104 rotates only during thetissue-cutting phase of the cutter advance.

FIG. 23 shows vacuum system 22 in greater detail. As shown in FIG. 23,vacuum system 22 comprises a first valve 230 connected by a vacuum tube232 to first connecter 40. A second valve 234 is connected by a secondvacuum tube 236 to second connector 44. Valves 230, 234 control thesupply of vacuum to lateral vacuum line 32 and axial vacuum line 34respectively. Valves 230, 234 include solenoids that are controlled bysignals from control unit 24 to open and close vacuum tubes 232, 236during operation of biopsy instrument 20. Each of the vacuum tubes 232,236 may be separately opened and closed at different intervals during anoperation cycle. Vacuum lines 232, 236 extend from valves 230, 234 to afluid reservoir, such as vacuum reservoir 240. A main vacuum line 242attaches reservoir 240 to a vacuum pump and chamber, indicated bynumeral 244, which is driven by a motor 246. Vacuum pump 244 may be ofvarious types, such as, for example, a piston, diaphragm, rotary orrotary vane pump. Motor 246 is preferably of a type operable at variablespeeds, such as, for example, a brushless direct current motor. Thespeed of the motor can be controlled based on a pressure sensed in afluid reservoir, such as a vacuum level in the vacuum reservoir 240. Thespeed of the motor may also be controlled based on upon an anticipatedneed for vacuum during an operation cycle, such as based on a scheduleof desired cutter position.

A muffler and baffling system 256 and exhaust port 258 extend fromvacuum chamber 244 to reduce noise and vent the system. An additionalvacuum tube 248 extends from vacuum reservoir 240 to a vacuum pressuresensor 250. Sensor 250 monitors the vacuum pressure in reservoir 240 andperiodically transmits a pressure signal 252 to control system 24.Control system 24 includes a printed circuit board (PCB) with amicroprocessor or microcontroller 254 for controlling motor 246 inrelation to the pressure signal 252 from sensor 250.

In one embodiment, microcontroller 254 maintains a consistent, desiredvacuum pressure in reservoir 240 by adjusting the speed of motor 246 inrelation to pressure signal 252 from sensor 250. The motor speed may beadjusted by altering the current, voltage or torque of the motor to varythe vacuum pump speed, and/or turn the vacuum pump on and off. In oneembodiment, while the pressure within reservoir 240 is at a desiredpreset level, microcontroller 254 idles motor 246 so that vacuum pump244 is not operating to create additional vacuum (and noise) within thesystem. When pressure signal 252 from sensor 250 indicates a drop inpressure within reservoir 240, such as when one or both valves 230, 234are opened, microcontroller 254 will activate motor 246 to turn pump 244on until the pressure in reservoir 240 again reaches the desired level.Sensor 250 thereby provides a closed-loop control for vacuum system 22that maintains the desired vacuum pressure within the system without theneed to continuously operate vacuum pump 244. In an alternativeembodiment, microcontroller 254 drives motor 246 to operate vacuum pump244 based upon the anticipated need for vacuum during an operation cycleof biopsy instrument 20. Microcontroller 254 may be preprogrammed tooperate the vacuum pump at different positions in the operation cycle.Accordingly, microcontroller 254 may increase the motor speed inanticipation of a need for vacuum such as, for example, when a userinitiates a tissue sampling cycle by activating forward rocker switch72. Microcontroller 254 may vary the speed of motor 246 to increase ordecrease vacuum depending upon the location of cutter 104 betweenpositions one through four of the operation cycle. In one embodiment,the pressure in the reservoir 240 can be about—26.5 inches Hg (about26.5 inches of Mercury below the local atmospheric pressure).

If desired a pressurized reservoir can be employed, and a pressuresensor and compressor can be used to maintain the pressure in thepressurized reservoir at a desired level above atmospheric pressure byusing a closed loop control method as set forth above. For instance, inan alternative embodiment reservoir 240 can be a pressurized reservoir,and pump 244 can be a compressor for providing pressurized air toreservoir 240. For example, it may be desirable to pneumatically drivetranslation and/or rotation of the cutter with a positive pressure (orwith a pressure differential employing vacuum), or to provide apressurized flow of fluid (gas or liquid) through the cutter lumen.Alternatively, a vacuum reservoir 240 can be employed for providingvacuum in association with the cutter, and one or more separatepressurized reservoirs and associated compressors can be employed forproviding motion of the cutter. In yet another embodiment, the reservoir240 could be employed as a vacuum reservoir during one portion of theoperation of the biopsy device, and as a pressurized reservoir duringanother portion of the operation of the biopsy device.

FIGS. 24A-24E provide a flow diagram of a control method according tothe present invention for controlling the operation of cutter 104 as thecutter moves through the four distinct positions described above. Thesteps of the control method are represented schematically in the flowdiagrams. Each box in the flow diagrams may represent one step or morethan one step. For discussion purpose, each box is referred to simply asa step. Progression of the steps occurs generally in the direction ofthe arrows connecting the boxes. The control method described below maybe used with biopsy instruments having a single motor, or two or moremotors for separately driving the cutter translation and rotation, suchas in the first embodiment shown in FIGS. 1-17.

Referring to FIG. 24A, step 410 represents the beginning of the controlmethod. When biopsy instrument 20 is activated for use, such as byselecting either a sampling or manual operation mode, a control signalis transmitted through power cord 48 to switchboard 198. Switchboard 198in turn directs that a pulse width modulation (PWM) drive signal besupplied to motor 188 to initiate rotation of translation drive shaft160. The rotation of translation drive shaft 160 is transmitted totranslation shaft 142 through the interconnection of distal end 162 andslot 158. As translation shaft 142 rotates, cam nut 136 begins totranslate cutter 104 from position one to position two due to the actionof cam follower pin 152 in variable pitch thread groove 144. Thetranslation of cam nut 136 along translation shaft 142 continues in step412.

At step 414, a predetermined time value stored in a reprogrammablememory in control unit 24 is read and compared to an accumulated timecount stored in a temporary memory. The reprogrammable memory may be,for example, a “flash” memory that is contained in a microcontrollersuch as, for example, a PIC18F452 manufactured by Microchip Corporation.The predetermined time value corresponds to a designated position in thecutter translation path. The accumulated time count in temporary memoryis updated by the microcontroller at approximately equal time intervals.In one embodiment, the time intervals can be less than or equal to about100 milliseconds, more particularly less than or equal to about 50milliseconds, and in one embodiment about 25 ms. The time count isderived from the actual time cutter 104 is translating through therelative positions one through four, plus (or minus) the time periodcalculated from a motor voltage comparison that will be described inmore detail below. When the time count in temporary memory matches thepredetermined time value, cutter 104 is deemed to be at position two. Ifthe temporary time count does not match the predetermined time value forposition two, then cutter 104 is not deemed to be at position two, andthe operation proceeds to step 416.

At step 416, the present translation current is read from translationmotor 188. At step 418, the present translation current reading iscompared against a predetermined current limit stored in the flashmemory. If the current reading is greater than the predetermined currentlimit, an error condition is determined to exist. The operation oftranslation motor 188 is stopped, and an error message is reported on auser interface at step 420. If at step 418 the present translationcurrent reading is equal to or below the predetermined current limit,the control method proceeds to step 422.

At step 422, the present translation current reading is compared with apredetermined current value stored in a reprogrammable memory referredto hereinafter as the “current LUT” (Look-Up-Table). The current LUTcomprises a representative current profile for each of the motors 186,188. The current profile is derived from experimental and empirical datarelated to motor operation and drive current. The current profile issegmented into time intervals corresponding to the time intervals of themicroprocessor, which in the exemplary embodiment described herein is25ms. The location in the current LUT of the predetermined current valueto be used in the comparison is dependent upon the accumulated timecount value at the time of the comparison. FIG. 25 illustrates anexemplary motor current profile 260 as cutter 104 traverses a completecycle from position one to position four, and then back again toposition one. In FIG. 25, current profile 260 is shown as motor current(vertical axis) verses time (horizontal axis). As shown by profile 260,the current to motor 188 varies between time increments and between eachof the four cutter positions. The current LUT comprises the currentlevel of profile 260 at each segmented time interval.

In addition to the current measurement, at step 422 the voltage oftranslation motor 188 is read during the off-cycle of the PWM motordrive signal. This voltage is proportional to the back electromechanicalforce of motor 188, as well as the linear travel speed of cutter 104.From the voltage reading, the actual position of cam nut 136 along thetravel path and, thus, the position of cutter 104 can be determined. Thevoltage reading from motor 188 may be compared to the motorspecifications, or a predetermined operational profile, to determine theactual travel speed from the voltage reading. If the motor voltagereading at the accumulated time count exceeds the anticipated voltagefor the time count, then cutter 104 is deemed to be at a more advancedposition in the current profile than that anticipated for theaccumulated time count. Accordingly, the position of the pointer in thecurrent LUT may be adjusted to account for the difference in distance byincreasing the accumulated time count, and thereby retarding the totaladvance time for the cutter. Likewise, if the motor voltage reading isless than the predetermined level for the accumulated time count, thenthe cutter is deemed to have not traveled as far along the currentprofile as anticipated by the accumulated time count. The position ofthe pointer in the current LUT may therefore be adjusted to account forthe difference in travel distance by reducing the accumulated time countand, therefore, rereading or moving backwards in the current LUT andincreasing the total advance time for the cutter.

At step 424, a comparison is made to determine if the difference betweenthe present translation current and the current value from the currentLUT is outside a predetermined range, such as the range indicated bydashed line 262 in FIG. 25. If the difference between the current valuesis outside the predetermined range, the current to translation motor 188is adjusted at step 426, such as by increasing or decreasing the dutycycle of the pulse width modulated motor control signal (or by changinga voltage level if an analog motor drive is employed rather than PWM).If the difference between the present translation current and thepredetermined current LUT value is determined at step 424 to be withinthe acceptable range, then the process returns to step 412 and cutter104 continues translating from position one to position two.

If at step 414 cutter 104 is deemed to be at position two, then thecontrol method passes to step 428 shown in FIG. 24B, and the cuttercontinues translating from position two to position three. At step 430,a check is made to determine if cutter 104 has reached a predeterminedintermediate position between position two and position three. Cutter104 is deemed to have reached the intermediate position when theaccumulated time count in temporary memory matches a predetermined timecount corresponding to the intermediate position. The predeterminedintermediate position is based on the actual cutter translation speedand the predetermined cutter rotation speed. The intermediate positionis selected to allow a sufficient amount of time for cutter 104 toaccelerate from zero to the predetermined rotation speed before cutter104 has reached position three, after which tissue cutting begins. If atstep 430 cutter 104 has not reached the intermediate position, then thepresent translation current from motor 188 is read at step 432.

At step 434, the present translation current is again compared to apredetermined current limit stored in the flash memory. If the presenttranslation current reading is greater than the predetermined currentlimit, an error condition is determined to exist. The operation oftranslation motor 188 is stopped, and an error message is reported on auser interface at step 436. If at step 434 the present translationcurrent is determined to be equal to or below the predetermined currentlimit, operation of instrument 20 continues at step 438. At step 438,the present translation motor current reading is again compared with apredetermined value in the current LUT. Once again, the location of thecomparison value in the current LUT is dependent upon the updatedaccumulated time count at the time of the comparison. Also, at step 438the present motor voltage is read and compared with the anticipatedvoltage based upon the updated accumulated time count. If the actualvoltage reading differs from the anticipated voltage, then theaccumulated time count is increased or decreased to synchronize thecurrent LUT position with the actual position of the cutter. If at step440 the difference between the present and predetermined current valuesis outside a predetermined range, the current to translation motor 188is adjusted at step 442. If the difference from the comparison at step440 is within the predetermined range, then cutter 104 continuestranslating from position two to position three at its present rate atstep 428.

If at step 430 cutter 104 is determined to have reached the intermediatepoint between position two and position three, then the cutter continuesto translate towards position three and the rotation of the cutter isstarted at step 444 shown in FIG. 24C. At step 446, the present rotationcurrent is read for rotary drive motor 186. At step 448, a comparison ismade to determine if the present rotation motor current is greater thana predetermined current limit stored in the flash memory. If the presentcurrent reading is greater than the predetermined limit, then therotation and translation motors 186, 188 are stopped at step 460, and anerror condition is reported on the user interface. If the presentrotation current reading is equal to or below the predetermined limit,then the operation continues to the next step. At step 450, the presentrotation current reading is compared with a predetermined current valueloaded into the current LUT. As mentioned above, the location of thecomparison value in the current LUT is dependent upon the accumulatedtime count at the time of the comparison. If at step 452 the differenceof the comparison is determined to be outside a predetermined range, thecurrent to the rotation motor 186 is adjusted at step 454. If at step452 the difference between the present current value and thepredetermined current value is within a predetermined range, thenrotation of cutter 104 continues.

At step 456, a predetermined time value stored in memory in themicrocontroller is compared to the accumulated time count stored in thetemporary memory. The accumulated time count is derived from the actualtime the cutter is moving through its relative position plus (or minus)the time calculated from the motor voltage comparisons at steps 422, 438and 464. When the accumulated time count matches the stored time count,cutter 104 is determined to be at the third position. If cutter 104 isnot at the third position, the process continues to step 458, where thepresent translation current is read from motor 188. At step 462, thepresent translation current reading is compared against a predeterminedcurrent limit. If the present current reading is greater than thepredetermined limit, the translation and rotation motors are stopped andan error is reported at step 460.

If the reading is equal to or below the limit, the process continues atstep 464, where the present current reading is compared with apredetermined value loaded into the current LUT. The location of thecomparison value in the current LUT is dependent on the updatedaccumulated time count at the time of the comparison. Also, at step 464the actual motor voltage is compared with the anticipated voltage. Theaccumulated time count is increased or decreased as described above toaccount for an increase or decrease in the motor voltage correspondingto a change in the actual travel speed of cutter 104. If at step 466 thedifference between the present current reading and the predeterminedcurrent value from the current LUT is determined to be within anallowable range, then translation of cutter 104 continues, and theprocess proceeds to step 446. If the difference from the comparison isoutside the predetermined allowable range, then the current totranslation motor 468 is adjusted. After this adjustment, the processcontinues to step 446.

When it has been determined at step 456 that cutter 104 has reachedposition three, then the process proceeds to step 470 shown in FIG. 24D.At step 470, the translation current to motor 188 is changed to apredetermined value and stored in the memory. The changed current valuecontinues the translation of cutter 104 towards the fourth position, butat a different velocity, typically 0.5 inches per second. At step 472, apredetermined value stored in the reprogrammable memory in themicrocontroller is compared to the accumulated time count stored in thetemporary memory. The time count is derived from the actual time cutter104 is moving through its relative positions plus (or minus) the timecalculated from the motor voltage comparisons. When the present timecount matches the stored time count, it is deemed that the cutter is atposition four.

At step 474, the present translation current is read. At step 476, thetranslation current reading is compared against a predetermined currentlimit. If the translation current reading is greater than thepredetermined limit, the process moves to step 482, where thetranslation and rotation motors 186, 188 are stopped and an errormessage is displayed. If at step 476 the present translation currentreading is less than or equal to the limit, the process continues tostep 478. At step 478, the motor voltage is read and compared to apredetermined motor voltage level. If the voltage reading is higher thananticipated, then the accumulated time count is increased to account foran increase in travel speed. If the voltage reading is lower thananticipated, the accumulated time count is decreased to account for adecrease in the actual travel speed of the cutter. Also at step 478, thepresent translation current reading is compared with a predeterminedvalue loaded into the current LUT. If at step 480 the difference betweenthe present and predetermined current values is determined to be outsideof a predefined range, the current is adjusted to the translation motor186 at step 484. If at step 480 the difference between the present andpredetermined current values is within a predetermined range, thencutter 104 continues translating and the process moves to step 486. Atstep 486, the present rotation current is again read, and at step 488the latest current reading is compared against a predetermined limit. Ifthe current reading is greater than the predetermined limit, translationand rotation motors 186, 188 are stopped and an error reported at step482. If the present rotation current reading is equal to or below thepredetermined limit, then operation continues on to the next step. Atstep 490, the present rotation motor current is again compared with apredetermined value loaded into the current LUT, and the differencebetween the two levels is calculated. If the difference in the currentlevels is determined at step 492 to be outside a predetermined range,then the current is adjusted to the rotation motor at step 494. If atstep 492 the difference between the two current levels is determined tobe within a predetermined range, then cutter rotation continues, and theprocess moves to step 472.

If at step 472, cutter 104 has reached position four, then the controlmethod continues to step 496 shown in FIG. 24E, at which pointtranslation motor 188 is stopped. Next, at step 498, a predeterminedvalue stored in the microcontroller is compared to the accumulated timecount stored in the temporary memory. The time count is derived from theactual time the rotation motor was turned on plus (or minus) timeadjustments calculated from the motor voltage comparisons. If at step498 the time count comparison does not match the stored time count, thenthe actual rotation motor current is read at step 500. At step 502, theactual rotation motor current is compared with a predetermined valueloaded into the current LUT, with the location of the comparison valuein the current LUT being dependent on the time count interval value atthe time of the comparison. If it is determined at step 504 that thedifference between the actual rotation motor current and thepredetermined value for the rotation current is outside a predeterminedrange, then the current to rotation motor 186 is adjusted at step 506.If the difference from the comparison is within the predetermined range,then the control method proceeds to step 498. At step 498, thepredetermined time count is compared to the accumulated time count forrotation motor 186. If the accumulated time count exceeds thepredetermined value, then the rotation motor is stopped at step 508.

While electric motors are disclosed in the embodiments described above,it will be understood that other types of motors, such as pneumaticmotors could be employed. Additionally, while an outer cannula with aninner cutter is disclosed, other variations may be employed, such as anembodiment wherein a cutter is coaxially disposed about the outside of acannula.

While preferred embodiments of the present invention have been shown anddescribed herein, it will be obvious to those skilled in the art thatsuch embodiments are provided by way of example only. Numerousvariations, changes, and substitutions will now occur to those skilledin the art without departing from the spirit and scope of the appendedclaims. Additionally, each element disclosed may be alternativelydescribed as a means for performing the element's function.

1-18. (canceled)
 19. A handheld biopsy device comprising: a cannula forreceiving tissue; a hollow cutter coaxial with the outer cannula; thehollow cutter supported for translation and rotation with respect to theouter cannula; a first rotationally driven member, the firstrotationally member adapted to provide variable speed translation of thecutter without variation of the rotational speed of the firstrotationally driven member; and a second rotationally driven member forproviding rotation of the cutter.
 20. The biopsy device of claim 19comprising at least one motor for driving the first and secondrotationally driven members.
 21. The biopsy device of claim 20comprising a first motor for driving the first rotationally drivenmember, and a second motor for driving the second rotationally drivenmember.
 22. The biopsy device of claim 21 wherein the motors areelectric motors.
 23. The biopsy device of claim 19 comprising a singlemotor for driving the first rotationally driven member and the secondrotationally driven member.
 24. A handheld biopsy device comprising: aprobe assembly, the probe assembly comprising; a cannula for receivingtissue; a hollow cutter coaxial with the outer cannula; the hollowcutter supported for translation and rotation with respect to the outercannula; a holster, the holster detachably connected to the probeassembly, the holster comprising: at least one motor for poweringmovement of the hollow cutter; first motor wherein the biopsy device isadapted to provide variation in the translational speed of the cutterwithout varying the speed of operation of the motor.
 25. The biopsydevice of claim 24 comprising a first motor for powering translation ofthe cutter and a second motor for providing rotation of the cutter. 26.The biopsy device of claim 24 wherein the motor comprises an electricmotor.